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ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"
http://arxiv.org/abs/1705.09785
GNU General Public License v3.0
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calibration_file(.ini format) usage #147

Open Surajj4837-th opened 1 year ago

Surajj4837-th commented 1 year ago

What should be the content of calibration_file(.ini format) in aruco_mapping/data folder? It has the following params:

# Prosilica camera intrinsics

[image]

width
1280

height
720

[camera]

camera matrix
704.12 0 636.094
0 700.12 393.9 
0 0 1

distortion
-1.7716164842652732e-01 2.4527309548752887e-02 1.9240901813031473e-04 -1.8595650055847136e-03 3.0916019834707860e-03

rectification
9.9998735061408284e-01 5.1865487826668606e-04 -5.0029600182704102e-03 
-5.2010329088742055e-04 9.9999982321248571e-01 -2.8821444103838947e-04
5.0028096499837114e-03 2.9081285127238347e-04 9.9998744358291403e-01

projection
6.8230856098675258e+02 0 6.2940856933593750e+02 0 
0 6.8230856098675258e+02 3.8939595031738281e+02 0 
0 0 1 0

I m confused about the data to be filled in the rectification and projection matrix.

louislelay commented 3 months ago

Hi @Surajj4837-th, you can use the ROS package camera_calibration to automatically generate all the necessary data for the calibration file. For more information, go to: https://wiki.ros.org/camera_calibration